#define SERVO_ERR_COLLISION 0x8100
#define SERVO_ERR_POSERR 0x4000
#define SERVO_ERR_OVERCURR 0x2000
#define SERVO_ERR_FOLLOWERR 0x1000
#define SERVO_ERR_BIENCODER 0x0800
#define SERVO_ERR_OVERSPEED 0x0400

#define SERVO_ERR_POSCMDTIMEOUT 0x0360
#define SERVO_ERR_CURCMDTIMEOUT 0x0320
#define SERVO_ERR_DRAGOVERSPEED 0x0300
#define SERVO_ERR_DRAG_ARRLIMIT 0x0240

#define SERVO_ERR_CMD_HIT_LMT 0x0200  //指令到达软限位
#define SERVO_ERR_ENA_TIMEOUT 0x0100
#define SERVO_ERR_MULTI_RND_CNT 0x0080  //多圈值计数错误

#define POWER_OFF_DELAY 2000
#define COLLISION_TIME_OUT 100

// Mark strings for translation, but defer translation to userspace
#define _(s) (s)
#define CAN_MASTER
#define TIMER_20S 2500
#define TIMER_5MIN 12
#define TIMER_5S 625
#define TIMER_2S 250